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<div class="title">ground_based_people_detection_app.hpp</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> * Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> * Copyright (c) 2013-, Open Perception, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> * All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> * Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> * modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> * are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> * * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> * notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a name="l00015"></a><span class="lineno">   15</span>&#160;<span class="comment"> * * Redistributions in binary form must reproduce the above</span></div>
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<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> * disclaimer in the documentation and/or other materials provided</span></div>
<div class="line"><a name="l00018"></a><span class="lineno">   18</span>&#160;<span class="comment"> * with the distribution.</span></div>
<div class="line"><a name="l00019"></a><span class="lineno">   19</span>&#160;<span class="comment"> * * Neither the name of the copyright holder(s) nor the names of its</span></div>
<div class="line"><a name="l00020"></a><span class="lineno">   20</span>&#160;<span class="comment"> * contributors may be used to endorse or promote products derived</span></div>
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<div class="line"><a name="l00022"></a><span class="lineno">   22</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00023"></a><span class="lineno">   23</span>&#160;<span class="comment"> * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS</span></div>
<div class="line"><a name="l00024"></a><span class="lineno">   24</span>&#160;<span class="comment"> * &quot;AS IS&quot; AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT</span></div>
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<div class="line"><a name="l00026"></a><span class="lineno">   26</span>&#160;<span class="comment"> * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE</span></div>
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<div class="line"><a name="l00028"></a><span class="lineno">   28</span>&#160;<span class="comment"> * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,</span></div>
<div class="line"><a name="l00029"></a><span class="lineno">   29</span>&#160;<span class="comment"> * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a name="l00030"></a><span class="lineno">   30</span>&#160;<span class="comment"> * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER</span></div>
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<div class="line"><a name="l00032"></a><span class="lineno">   32</span>&#160;<span class="comment"> * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> * POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a name="l00035"></a><span class="lineno">   35</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * ground_based_people_detection_app.hpp</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * Created on: Nov 30, 2012</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> * Author: Matteo Munaro</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160; </div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#ifndef PCL_PEOPLE_GROUND_BASED_PEOPLE_DETECTION_APP_HPP_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#define PCL_PEOPLE_GROUND_BASED_PEOPLE_DETECTION_APP_HPP_</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/people/ground_based_people_detection_app.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00047"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a13fd5a5b9f2c03d75a303f2d1fffca79">   47</a></span>&#160;<a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a13fd5a5b9f2c03d75a303f2d1fffca79">pcl::people::GroundBasedPeopleDetectionApp&lt;PointT&gt;::GroundBasedPeopleDetectionApp</a> ()</div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;{</div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  rgb_image_ = pcl::PointCloud&lt;pcl::RGB&gt;::Ptr(<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::RGB&gt;</a>);</div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;  <span class="comment">// set default values for optional parameters:</span></div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  sampling_factor_ = 1;</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  voxel_size_ = 0.06;</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160;  vertical_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  head_centroid_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  min_fov_ = 0;</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;  max_fov_ = 50;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  min_height_ = 1.3;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;  max_height_ = 2.3;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;  min_width_ = 0.1;</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  max_width_ = 8.0;</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;  updateMinMaxPoints ();</div>
<div class="line"><a name="l00063"></a><span class="lineno">   63</span>&#160;  heads_minimum_distance_ = 0.3;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160; </div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;  <span class="comment">// set flag values for mandatory parameters:</span></div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;  sqrt_ground_coeffs_ = std::numeric_limits&lt;float&gt;::quiet_NaN();</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  ground_coeffs_set_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  intrinsics_matrix_set_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;  person_classifier_set_flag_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160; </div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;  <span class="comment">// set other flags</span></div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  transformation_set_ = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;}</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160; </div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00076"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a4d891de9e757b98155a630ac7a7c9de7">   76</a></span>&#160;<a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a4d891de9e757b98155a630ac7a7c9de7">pcl::people::GroundBasedPeopleDetectionApp&lt;PointT&gt;::setInputCloud</a> (PointCloudPtr&amp; cloud)</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160;{</div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  cloud_ = cloud;</div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;}</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160; </div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00082"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#abb1e96641bf0cd5d87ec9d32181a3efa">   82</a></span>&#160;<a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#abb1e96641bf0cd5d87ec9d32181a3efa">pcl::people::GroundBasedPeopleDetectionApp&lt;PointT&gt;::setTransformation</a> (<span class="keyword">const</span> Eigen::Matrix3f&amp; transformation)</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;{</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  <span class="keywordflow">if</span> (!transformation.isUnitary())</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;  {</div>
<div class="line"><a name="l00086"></a><span class="lineno">   86</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::people::GroundBasedPeopleDetectionApp::setCloudTransform] The cloud transformation matrix must be an orthogonal matrix!\n&quot;</span>);</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;  }</div>
<div class="line"><a name="l00088"></a><span class="lineno">   88</span>&#160; </div>
<div class="line"><a name="l00089"></a><span class="lineno">   89</span>&#160;  transformation_ = transformation;</div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  transformation_set_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  applyTransformationGround();</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;  applyTransformationIntrinsics();</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;}</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160; </div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a6ad2ce897659e25fd5552be5cfcebd50">   96</a></span>&#160;<a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a6ad2ce897659e25fd5552be5cfcebd50">pcl::people::GroundBasedPeopleDetectionApp&lt;PointT&gt;::setGround</a> (Eigen::VectorXf&amp; ground_coeffs)</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;{</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;  ground_coeffs_ = ground_coeffs;</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;  ground_coeffs_set_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;  sqrt_ground_coeffs_ = (ground_coeffs - Eigen::Vector4f(0.0f, 0.0f, 0.0f, ground_coeffs(3))).norm();</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;  applyTransformationGround();</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;}</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160; </div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00105"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a19a15f63fc6648a65d54e2d70e6dbd7e">  105</a></span>&#160;<a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a19a15f63fc6648a65d54e2d70e6dbd7e">pcl::people::GroundBasedPeopleDetectionApp&lt;PointT&gt;::setSamplingFactor</a> (<span class="keywordtype">int</span> sampling_factor)</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;{</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;  sampling_factor_ = sampling_factor;</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;}</div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160; </div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00111"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a5280579c14550268bd5b64a01f5716b5">  111</a></span>&#160;<a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a5280579c14550268bd5b64a01f5716b5">pcl::people::GroundBasedPeopleDetectionApp&lt;PointT&gt;::setVoxelSize</a> (<span class="keywordtype">float</span> voxel_size)</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;{</div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;  voxel_size_ = voxel_size;</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;  updateMinMaxPoints ();</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;}</div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160; </div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a915f68c8aa39a15fc5a129a6d87b00a5">  118</a></span>&#160;<a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a915f68c8aa39a15fc5a129a6d87b00a5">pcl::people::GroundBasedPeopleDetectionApp&lt;PointT&gt;::setIntrinsics</a> (Eigen::Matrix3f intrinsics_matrix)</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;{</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;  intrinsics_matrix_ = intrinsics_matrix;</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;  intrinsics_matrix_set_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;  applyTransformationIntrinsics();</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;}</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160; </div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00126"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a31940f8ad83752c91fed13ef030bf714">  126</a></span>&#160;<a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a31940f8ad83752c91fed13ef030bf714">pcl::people::GroundBasedPeopleDetectionApp&lt;PointT&gt;::setClassifier</a> (<a class="code" href="classpcl_1_1people_1_1_person_classifier.html">pcl::people::PersonClassifier&lt;pcl::RGB&gt;</a> person_classifier)</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;{</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;  person_classifier_ = person_classifier;</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;  person_classifier_set_flag_ = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;}</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#aa863e592db0f6d0e943f11a1ee93b564">  133</a></span>&#160;<a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#aa863e592db0f6d0e943f11a1ee93b564">pcl::people::GroundBasedPeopleDetectionApp&lt;PointT&gt;::setFOV</a> (<span class="keywordtype">float</span> min_fov, <span class="keywordtype">float</span> max_fov)</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160;{</div>
<div class="line"><a name="l00135"></a><span class="lineno">  135</span>&#160;  min_fov_ = min_fov;</div>
<div class="line"><a name="l00136"></a><span class="lineno">  136</span>&#160;  max_fov_ = max_fov;</div>
<div class="line"><a name="l00137"></a><span class="lineno">  137</span>&#160;}</div>
<div class="line"><a name="l00138"></a><span class="lineno">  138</span>&#160; </div>
<div class="line"><a name="l00139"></a><span class="lineno">  139</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00140"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#af5662950e81c30873915ed91dcc0d0d2">  140</a></span>&#160;<a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#af5662950e81c30873915ed91dcc0d0d2">pcl::people::GroundBasedPeopleDetectionApp&lt;PointT&gt;::setSensorPortraitOrientation</a> (<span class="keywordtype">bool</span> vertical)</div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;{</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;  vertical_ = vertical;</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;}</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160; </div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;<span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00146"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a74d6d3cb5fd914ed35b0d23702719912">  146</a></span>&#160;<span class="keywordtype">void</span> <a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a74d6d3cb5fd914ed35b0d23702719912">pcl::people::GroundBasedPeopleDetectionApp&lt;PointT&gt;::updateMinMaxPoints</a> ()</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;{</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;  min_points_ = (int) (min_height_ * min_width_ / voxel_size_ / voxel_size_);</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;  max_points_ = (int) (max_height_ * max_width_ / voxel_size_ / voxel_size_);</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;}</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160; </div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00153"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#ab089c9fe913edf8b5aff9d9e64f6914a">  153</a></span>&#160;<a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#ab089c9fe913edf8b5aff9d9e64f6914a">pcl::people::GroundBasedPeopleDetectionApp&lt;PointT&gt;::setPersonClusterLimits</a> (<span class="keywordtype">float</span> min_height, <span class="keywordtype">float</span> max_height, <span class="keywordtype">float</span> min_width, <span class="keywordtype">float</span> max_width)</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;{</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;  min_height_ = min_height;</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;  max_height_ = max_height;</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;  min_width_ = min_width;</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;  max_width_ = max_width;</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;  updateMinMaxPoints ();</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;}</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00163"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a2c906736068e8325c05243de6460dba4">  163</a></span>&#160;<a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a2c906736068e8325c05243de6460dba4">pcl::people::GroundBasedPeopleDetectionApp&lt;PointT&gt;::setMinimumDistanceBetweenHeads</a> (<span class="keywordtype">float</span> heads_minimum_distance)</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;{</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;  heads_minimum_distance_= heads_minimum_distance;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;}</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160; </div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00169"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a31b917712ffe4f66d8ecf85ee9e71749">  169</a></span>&#160;<a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a31b917712ffe4f66d8ecf85ee9e71749">pcl::people::GroundBasedPeopleDetectionApp&lt;PointT&gt;::setHeadCentroid</a> (<span class="keywordtype">bool</span> head_centroid)</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;{</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  head_centroid_ = head_centroid;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;}</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00175"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a96dd362f2971dab29b62c02ebf0a4ad2">  175</a></span>&#160;<a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a96dd362f2971dab29b62c02ebf0a4ad2">pcl::people::GroundBasedPeopleDetectionApp&lt;PointT&gt;::getPersonClusterLimits</a> (<span class="keywordtype">float</span>&amp; min_height, <span class="keywordtype">float</span>&amp; max_height, <span class="keywordtype">float</span>&amp; min_width, <span class="keywordtype">float</span>&amp; max_width)</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;{</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  min_height = min_height_;</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  max_height = max_height_;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;  min_width = min_width_;</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  max_width = max_width_;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;}</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160; </div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00184"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a00e3e22879cc58458e8bc1d57f1f0b4c">  184</a></span>&#160;<a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a00e3e22879cc58458e8bc1d57f1f0b4c">pcl::people::GroundBasedPeopleDetectionApp&lt;PointT&gt;::getDimensionLimits</a> (<span class="keywordtype">int</span>&amp; min_points, <span class="keywordtype">int</span>&amp; max_points)</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;{</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;  min_points = min_points_;</div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;  max_points = max_points_;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;}</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160; </div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">float</span></div>
<div class="line"><a name="l00191"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#aca14cbeff3ce425e9a8fe3170236da77">  191</a></span>&#160;<a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#aca14cbeff3ce425e9a8fe3170236da77">pcl::people::GroundBasedPeopleDetectionApp&lt;PointT&gt;::getMinimumDistanceBetweenHeads</a> ()</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;{</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;  <span class="keywordflow">return</span> (heads_minimum_distance_);</div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;}</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160; </div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; Eigen::VectorXf</div>
<div class="line"><a name="l00197"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#aa5e5282899e9ef0bd92f37d87cf9cb33">  197</a></span>&#160;<a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#aa5e5282899e9ef0bd92f37d87cf9cb33">pcl::people::GroundBasedPeopleDetectionApp&lt;PointT&gt;::getGround</a> ()</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;{</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;  <span class="keywordflow">if</span> (!ground_coeffs_set_)</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;  {</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::people::GroundBasedPeopleDetectionApp::getGround] Floor parameters have not been set or they are not valid!\n&quot;</span>);</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;  }</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;  <span class="keywordflow">return</span> (ground_coeffs_);</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;}</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160; </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">typename</span> pcl::people::GroundBasedPeopleDetectionApp&lt;PointT&gt;::PointCloudPtr</div>
<div class="line"><a name="l00207"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a4e007039016b8be76f00495a6d114095">  207</a></span>&#160;<a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a4e007039016b8be76f00495a6d114095">pcl::people::GroundBasedPeopleDetectionApp&lt;PointT&gt;::getFilteredCloud</a> ()</div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;{</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;  <span class="keywordflow">return</span> (cloud_filtered_);</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;}</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160; </div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">typename</span> pcl::people::GroundBasedPeopleDetectionApp&lt;PointT&gt;::PointCloudPtr</div>
<div class="line"><a name="l00213"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a0136956b003c924a34bbbe02a032a4d4">  213</a></span>&#160;<a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a0136956b003c924a34bbbe02a032a4d4">pcl::people::GroundBasedPeopleDetectionApp&lt;PointT&gt;::getNoGroundCloud</a> ()</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;{</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;  <span class="keywordflow">return</span> (no_ground_cloud_);</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;}</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160; </div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00219"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a1d2f9ad79adf98c4bfc5c156d97b12b8">  219</a></span>&#160;<a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a1d2f9ad79adf98c4bfc5c156d97b12b8">pcl::people::GroundBasedPeopleDetectionApp&lt;PointT&gt;::extractRGBFromPointCloud</a> (PointCloudPtr input_cloud, pcl::PointCloud&lt;pcl::RGB&gt;::Ptr&amp; output_cloud)</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;{</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;  <span class="comment">// Extract RGB information from a point cloud and output the corresponding RGB point cloud  </span></div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;  output_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize(input_cloud-&gt;height*input_cloud-&gt;width);</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;  output_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = input_cloud-&gt;width;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;  output_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = input_cloud-&gt;height;</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160; </div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;  <a class="code" href="structpcl_1_1_r_g_b.html">pcl::RGB</a> rgb_point;</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;  <span class="keywordflow">for</span> (uint32_t j = 0; j &lt; input_cloud-&gt;width; j++)</div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;  {</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;    <span class="keywordflow">for</span> (uint32_t i = 0; i &lt; input_cloud-&gt;height; i++)</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;    { </div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;      rgb_point.r = (*input_cloud)(j,i).r;</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;      rgb_point.g = (*input_cloud)(j,i).g;</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;      rgb_point.b = (*input_cloud)(j,i).b;    </div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;      (*output_cloud)(j,i) = rgb_point; </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;    }</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;  }</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;}</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160; </div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00240"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a60516702b769124ed3da3fd318258ba0">  240</a></span>&#160;<a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a60516702b769124ed3da3fd318258ba0">pcl::people::GroundBasedPeopleDetectionApp&lt;PointT&gt;::swapDimensions</a> (pcl::PointCloud&lt;pcl::RGB&gt;::Ptr&amp; cloud)</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;{</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160;  pcl::PointCloud&lt;pcl::RGB&gt;::Ptr output_cloud(<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;pcl::RGB&gt;</a>);</div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;  output_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.resize(cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>*cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>);</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;  output_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>;</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;  output_cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>;</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;  <span class="keywordflow">for</span> (uint32_t i = 0; i &lt; cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>; i++)</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;  {</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;    <span class="keywordflow">for</span> (uint32_t j = 0; j &lt; cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>; j++)</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    {</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;      (*output_cloud)(j,i) = (*cloud)(cloud-&gt;<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> - i - 1, j);</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    }</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;  }</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;  cloud = output_cloud;</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;}</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160; </div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00257"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a8aee7a6add005a4c42ade573585acfff">  257</a></span>&#160;<a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a8aee7a6add005a4c42ade573585acfff">pcl::people::GroundBasedPeopleDetectionApp&lt;PointT&gt;::applyTransformationPointCloud</a> ()</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;{</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;  <span class="keywordflow">if</span> (transformation_set_)</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160;  {</div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;    Eigen::Transform&lt;float, 3, Eigen::Affine&gt; transform;</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;    transform = transformation_;</div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;    <a class="code" href="group__common.html#ga52d532f7f2b4d7bba78d13701d3a33d8">pcl::transformPointCloud</a>(*cloud_, *cloud_, transform);</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;  }</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;}</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160; </div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00268"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#ad88876b8e9f69b703ffc26d1d5c92760">  268</a></span>&#160;<a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#ad88876b8e9f69b703ffc26d1d5c92760">pcl::people::GroundBasedPeopleDetectionApp&lt;PointT&gt;::applyTransformationGround</a> ()</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;{</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;  <span class="keywordflow">if</span> (transformation_set_ &amp;&amp; ground_coeffs_set_)</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;  {</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;    Eigen::Transform&lt;float, 3, Eigen::Affine&gt; transform;</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;    transform = transformation_;</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    ground_coeffs_transformed_ = transform.matrix() * ground_coeffs_;</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;  }</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00277"></a><span class="lineno">  277</span>&#160;  {</div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;    ground_coeffs_transformed_ = ground_coeffs_;</div>
<div class="line"><a name="l00279"></a><span class="lineno">  279</span>&#160;  }</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;}</div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160; </div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00283"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a0dc924992669bcd76b7dad68cfd5c5f6">  283</a></span>&#160;<a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a0dc924992669bcd76b7dad68cfd5c5f6">pcl::people::GroundBasedPeopleDetectionApp&lt;PointT&gt;::applyTransformationIntrinsics</a> ()</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;{</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;  <span class="keywordflow">if</span> (transformation_set_ &amp;&amp; intrinsics_matrix_set_)</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;  {</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;    intrinsics_matrix_transformed_ = intrinsics_matrix_ * transformation_.transpose();</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;  }</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;  {</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;    intrinsics_matrix_transformed_ = intrinsics_matrix_;</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;  }</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;}</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160; </div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">void</span></div>
<div class="line"><a name="l00296"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a06ab91072245185aefb01e9f7c5f53bf">  296</a></span>&#160;<a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a06ab91072245185aefb01e9f7c5f53bf">pcl::people::GroundBasedPeopleDetectionApp&lt;PointT&gt;::filter</a> ()</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;{</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;  cloud_filtered_ = PointCloudPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>);</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;  <a class="code" href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid&lt;PointT&gt;</a> grid;</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;  grid.<a class="code" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a>(cloud_);</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;  grid.<a class="code" href="classpcl_1_1_voxel_grid.html#aa5d7831e665977bdce76ed05bd0005cf">setLeafSize</a>(voxel_size_, voxel_size_, voxel_size_);</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;  grid.<a class="code" href="classpcl_1_1_voxel_grid.html#a155aa8fce756b002bb1b4b352f8f530f">setFilterFieldName</a>(<span class="stringliteral">&quot;z&quot;</span>);</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;  grid.<a class="code" href="classpcl_1_1_voxel_grid.html#afc6d78962d7378aea245381fdb13e65e">setFilterLimits</a>(min_fov_, max_fov_);</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;  grid.<a class="code" href="classpcl_1_1_filter.html#a17115897ca28f6b12950d023958aa641">filter</a>(*cloud_filtered_);</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;}</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160; </div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keywordtype">bool</span></div>
<div class="line"><a name="l00308"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#aef52be2a667ceb8c1c58b93c06125fa0">  308</a></span>&#160;<a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#aef52be2a667ceb8c1c58b93c06125fa0">pcl::people::GroundBasedPeopleDetectionApp&lt;PointT&gt;::compute</a> (std::vector&lt;<a class="code" href="classpcl_1_1people_1_1_person_cluster.html">pcl::people::PersonCluster&lt;PointT&gt;</a> &gt;&amp; clusters)</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;{</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;  <span class="comment">// Check if all mandatory variables have been set:</span></div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;  <span class="keywordflow">if</span> (!ground_coeffs_set_)</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;  {</div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::people::GroundBasedPeopleDetectionApp::compute] Floor parameters have not been set or they are not valid!\n&quot;</span>);</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;  }</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160;  <span class="keywordflow">if</span> (cloud_ == NULL)</div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;  {</div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::people::GroundBasedPeopleDetectionApp::compute] Input cloud has not been set!\n&quot;</span>);</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;  }</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;  <span class="keywordflow">if</span> (!intrinsics_matrix_set_)</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;  {</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::people::GroundBasedPeopleDetectionApp::compute] Camera intrinsic parameters have not been set!\n&quot;</span>);</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;  }</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;  <span class="keywordflow">if</span> (!person_classifier_set_flag_)</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;  {</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;    PCL_ERROR (<span class="stringliteral">&quot;[pcl::people::GroundBasedPeopleDetectionApp::compute] Person classifier has not been set!\n&quot;</span>);</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;    <span class="keywordflow">return</span> (<span class="keyword">false</span>);</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;  }</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160; </div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;  <span class="comment">// Fill rgb image:</span></div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;  rgb_image_-&gt;points.clear();                            <span class="comment">// clear RGB pointcloud</span></div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;  extractRGBFromPointCloud(cloud_, rgb_image_);          <span class="comment">// fill RGB pointcloud</span></div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160; </div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;  <span class="comment">// Downsample of sampling_factor in every dimension:</span></div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;  <span class="keywordflow">if</span> (sampling_factor_ != 1)</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;  {</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;    PointCloudPtr cloud_downsampled(<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>);</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;    cloud_downsampled-&gt;width = (cloud_-&gt;width)/sampling_factor_;</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;    cloud_downsampled-&gt;height = (cloud_-&gt;height)/sampling_factor_;</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;    cloud_downsampled-&gt;points.resize(cloud_downsampled-&gt;height*cloud_downsampled-&gt;width);</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;    cloud_downsampled-&gt;is_dense = cloud_-&gt;is_dense;</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;    <span class="keywordflow">for</span> (uint32_t j = 0; j &lt; cloud_downsampled-&gt;width; j++)</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;    {</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;      <span class="keywordflow">for</span> (uint32_t i = 0; i &lt; cloud_downsampled-&gt;height; i++)</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;      {</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;        (*cloud_downsampled)(j,i) = (*cloud_)(sampling_factor_*j,sampling_factor_*i);</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;      }</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;    }</div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;    (*cloud_) = (*cloud_downsampled);</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160;  }</div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160; </div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;  applyTransformationPointCloud();</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160; </div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;  filter();</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160; </div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;  <span class="comment">// Ground removal and update:</span></div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;  pcl::IndicesPtr inliers(<span class="keyword">new</span> std::vector&lt;int&gt;);</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;  boost::shared_ptr&lt;pcl::SampleConsensusModelPlane&lt;PointT&gt; &gt; ground_model(<span class="keyword">new</span> <a class="code" href="classpcl_1_1_sample_consensus_model_plane.html">pcl::SampleConsensusModelPlane&lt;PointT&gt;</a>(cloud_filtered_));</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;  ground_model-&gt;selectWithinDistance(ground_coeffs_transformed_, 2 * voxel_size_, *inliers);</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;  no_ground_cloud_ = PointCloudPtr (<span class="keyword">new</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud</a>);</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;  <a class="code" href="classpcl_1_1_extract_indices.html">pcl::ExtractIndices&lt;PointT&gt;</a> extract;</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;  extract.<a class="code" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a>(cloud_filtered_);</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;  extract.<a class="code" href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">setIndices</a>(inliers);</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;  extract.<a class="code" href="classpcl_1_1_filter_indices.html#a8da0b86892188e59b0deb8d420a682bb">setNegative</a>(<span class="keyword">true</span>);</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;  extract.filter(*no_ground_cloud_);</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;  <span class="keywordflow">if</span> (inliers-&gt;size () &gt;= (300 * 0.06 / voxel_size_ / std::pow (<span class="keyword">static_cast&lt;</span><span class="keywordtype">double</span><span class="keyword">&gt;</span> (sampling_factor_), 2)))</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;    ground_model-&gt;optimizeModelCoefficients (*inliers, ground_coeffs_transformed_, ground_coeffs_transformed_);</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;  <span class="keywordflow">else</span></div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;    PCL_INFO (<span class="stringliteral">&quot;No groundplane update!\n&quot;</span>);</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160; </div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160;  <span class="comment">// Euclidean Clustering:</span></div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;  std::vector&lt;pcl::PointIndices&gt; cluster_indices;</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;  <span class="keyword">typename</span> pcl::search::KdTree&lt;PointT&gt;::Ptr tree (<span class="keyword">new</span> <a class="code" href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree&lt;PointT&gt;</a>);</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;  tree-&gt;<a class="code" href="classpcl_1_1search_1_1_kd_tree.html#a457ebf1fc8f25e3b45d0bf9d55880f6f">setInputCloud</a>(no_ground_cloud_);</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;  <a class="code" href="classpcl_1_1_euclidean_cluster_extraction.html">pcl::EuclideanClusterExtraction&lt;PointT&gt;</a> ec;</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;  ec.<a class="code" href="classpcl_1_1_euclidean_cluster_extraction.html#a8fb42fea2e8bfca4ebadf4339335cf11">setClusterTolerance</a>(2 * voxel_size_);</div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;  ec.<a class="code" href="classpcl_1_1_euclidean_cluster_extraction.html#a096af3508dd19b23a726a8323f7c7bba">setMinClusterSize</a>(min_points_);</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;  ec.<a class="code" href="classpcl_1_1_euclidean_cluster_extraction.html#adb0be906f101b309506cdc37ffd31624">setMaxClusterSize</a>(max_points_);</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;  ec.<a class="code" href="classpcl_1_1_euclidean_cluster_extraction.html#ac4162a11c1fd5797d507068a056bfbf7">setSearchMethod</a>(tree);</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;  ec.<a class="code" href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">setInputCloud</a>(no_ground_cloud_);</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;  ec.<a class="code" href="classpcl_1_1_euclidean_cluster_extraction.html#a41e0cd5e3f7967d59013c967c909585c">extract</a>(cluster_indices);</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160; </div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;  <span class="comment">// Head based sub-clustering //</span></div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;  <a class="code" href="classpcl_1_1people_1_1_head_based_subclustering.html">pcl::people::HeadBasedSubclustering&lt;PointT&gt;</a> subclustering;</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;  subclustering.<a class="code" href="classpcl_1_1people_1_1_head_based_subclustering.html#ad140bf587d64742ccf80863a31420584">setInputCloud</a>(no_ground_cloud_);</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;  subclustering.<a class="code" href="classpcl_1_1people_1_1_head_based_subclustering.html#a041e2143e796e359353c798f16f8be8d">setGround</a>(ground_coeffs_transformed_);</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;  subclustering.<a class="code" href="classpcl_1_1people_1_1_head_based_subclustering.html#a84a55359a8ff3af4b51d663a4c017f45">setInitialClusters</a>(cluster_indices);</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;  subclustering.<a class="code" href="classpcl_1_1people_1_1_head_based_subclustering.html#abb32cbb48acaa44cd04ec25508e56ca9">setHeightLimits</a>(min_height_, max_height_);</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;  subclustering.<a class="code" href="classpcl_1_1people_1_1_head_based_subclustering.html#a866c04c3f4cd3c955a5217a4684ea36b">setMinimumDistanceBetweenHeads</a>(heads_minimum_distance_);</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;  subclustering.<a class="code" href="classpcl_1_1people_1_1_head_based_subclustering.html#aa397dfa3d093b2a9f86b3957513b9d94">setSensorPortraitOrientation</a>(vertical_);</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;  subclustering.<a class="code" href="classpcl_1_1people_1_1_head_based_subclustering.html#a37e1d9543f43fc7c59fe3a795d01388e">subcluster</a>(clusters);</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160; </div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;  <span class="comment">// Person confidence evaluation with HOG+SVM:</span></div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;  <span class="keywordflow">if</span> (vertical_)  <span class="comment">// Rotate the image if the camera is vertical</span></div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;  {</div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;    swapDimensions(rgb_image_);</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;  }</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;  <span class="keywordflow">for</span>(<span class="keyword">typename</span> std::vector&lt;<a class="code" href="classpcl_1_1people_1_1_person_cluster.html">pcl::people::PersonCluster&lt;PointT&gt;</a> &gt;::iterator it = clusters.begin(); it != clusters.end(); ++it)</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;  {</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;    <span class="comment">//Evaluate confidence for the current PersonCluster:</span></div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;    Eigen::Vector3f centroid = intrinsics_matrix_transformed_ * (it-&gt;getTCenter());</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;    centroid /= centroid(2);</div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;    Eigen::Vector3f top = intrinsics_matrix_transformed_ * (it-&gt;getTTop());</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;    top /= top(2);</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;    Eigen::Vector3f bottom = intrinsics_matrix_transformed_ * (it-&gt;getTBottom());</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;    bottom /= bottom(2);</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160;    it-&gt;setPersonConfidence(person_classifier_.evaluate(rgb_image_, bottom, top, centroid, vertical_));</div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;  }</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160; </div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;  <span class="keywordflow">return</span> (<span class="keyword">true</span>);</div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;}</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160; </div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160;<span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00416"></a><span class="lineno"><a class="line" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#ae2a57b74d01adf84f8371ffc5d8cb4cd">  416</a></span>&#160;<a class="code" href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#ae2a57b74d01adf84f8371ffc5d8cb4cd">pcl::people::GroundBasedPeopleDetectionApp&lt;PointT&gt;::~GroundBasedPeopleDetectionApp</a> ()</div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;{</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;  <span class="comment">// TODO Auto-generated destructor stub</span></div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;}</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160;<span class="preprocessor">#endif </span><span class="comment">/* PCL_PEOPLE_GROUND_BASED_PEOPLE_DETECTION_APP_HPP_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclasspcl_1_1_euclidean_cluster_extraction_html"><div class="ttname"><a href="classpcl_1_1_euclidean_cluster_extraction.html">pcl::EuclideanClusterExtraction</a></div><div class="ttdoc">EuclideanClusterExtraction represents a segmentation class for cluster extraction in an Euclidean sen...</div><div class="ttdef"><b>Definition:</b> extract_clusters.h:296</div></div>
<div class="ttc" id="aclasspcl_1_1_euclidean_cluster_extraction_html_a096af3508dd19b23a726a8323f7c7bba"><div class="ttname"><a href="classpcl_1_1_euclidean_cluster_extraction.html#a096af3508dd19b23a726a8323f7c7bba">pcl::EuclideanClusterExtraction::setMinClusterSize</a></div><div class="ttdeci">void setMinClusterSize(int min_cluster_size)</div><div class="ttdoc">Set the minimum number of points that a cluster needs to contain in order to be considered valid.</div><div class="ttdef"><b>Definition:</b> extract_clusters.h:356</div></div>
<div class="ttc" id="aclasspcl_1_1_euclidean_cluster_extraction_html_a41e0cd5e3f7967d59013c967c909585c"><div class="ttname"><a href="classpcl_1_1_euclidean_cluster_extraction.html#a41e0cd5e3f7967d59013c967c909585c">pcl::EuclideanClusterExtraction::extract</a></div><div class="ttdeci">void extract(std::vector&lt; PointIndices &gt; &amp;clusters)</div><div class="ttdoc">Cluster extraction in a PointCloud given by &lt;setInputCloud (), setIndices ()&gt;</div><div class="ttdef"><b>Definition:</b> extract_clusters.hpp:210</div></div>
<div class="ttc" id="aclasspcl_1_1_euclidean_cluster_extraction_html_a8fb42fea2e8bfca4ebadf4339335cf11"><div class="ttname"><a href="classpcl_1_1_euclidean_cluster_extraction.html#a8fb42fea2e8bfca4ebadf4339335cf11">pcl::EuclideanClusterExtraction::setClusterTolerance</a></div><div class="ttdeci">void setClusterTolerance(double tolerance)</div><div class="ttdoc">Set the spatial cluster tolerance as a measure in the L2 Euclidean space</div><div class="ttdef"><b>Definition:</b> extract_clusters.h:340</div></div>
<div class="ttc" id="aclasspcl_1_1_euclidean_cluster_extraction_html_ac4162a11c1fd5797d507068a056bfbf7"><div class="ttname"><a href="classpcl_1_1_euclidean_cluster_extraction.html#ac4162a11c1fd5797d507068a056bfbf7">pcl::EuclideanClusterExtraction::setSearchMethod</a></div><div class="ttdeci">void setSearchMethod(const KdTreePtr &amp;tree)</div><div class="ttdoc">Provide a pointer to the search object.</div><div class="ttdef"><b>Definition:</b> extract_clusters.h:322</div></div>
<div class="ttc" id="aclasspcl_1_1_euclidean_cluster_extraction_html_adb0be906f101b309506cdc37ffd31624"><div class="ttname"><a href="classpcl_1_1_euclidean_cluster_extraction.html#adb0be906f101b309506cdc37ffd31624">pcl::EuclideanClusterExtraction::setMaxClusterSize</a></div><div class="ttdeci">void setMaxClusterSize(int max_cluster_size)</div><div class="ttdoc">Set the maximum number of points that a cluster needs to contain in order to be considered valid.</div><div class="ttdef"><b>Definition:</b> extract_clusters.h:372</div></div>
<div class="ttc" id="aclasspcl_1_1_extract_indices_html"><div class="ttname"><a href="classpcl_1_1_extract_indices.html">pcl::ExtractIndices</a></div><div class="ttdoc">ExtractIndices extracts a set of indices from a point cloud.</div><div class="ttdef"><b>Definition:</b> extract_indices.h:71</div></div>
<div class="ttc" id="aclasspcl_1_1_filter_html_a17115897ca28f6b12950d023958aa641"><div class="ttname"><a href="classpcl_1_1_filter.html#a17115897ca28f6b12950d023958aa641">pcl::Filter::filter</a></div><div class="ttdeci">void filter(PointCloud &amp;output)</div><div class="ttdoc">Calls the filtering method and returns the filtered dataset in output.</div><div class="ttdef"><b>Definition:</b> filter.h:132</div></div>
<div class="ttc" id="aclasspcl_1_1_filter_indices_html_a8da0b86892188e59b0deb8d420a682bb"><div class="ttname"><a href="classpcl_1_1_filter_indices.html#a8da0b86892188e59b0deb8d420a682bb">pcl::FilterIndices::setNegative</a></div><div class="ttdeci">void setNegative(bool negative)</div><div class="ttdoc">Set whether the regular conditions for points filtering should apply, or the inverted conditions.</div><div class="ttdef"><b>Definition:</b> filter_indices.h:127</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_a1952d7101f3942bac3b69ed55c1ca7ea"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#a1952d7101f3942bac3b69ed55c1ca7ea">pcl::PCLBase::setInputCloud</a></div><div class="ttdeci">virtual void setInputCloud(const PointCloudConstPtr &amp;cloud)</div><div class="ttdoc">Provide a pointer to the input dataset</div><div class="ttdef"><b>Definition:</b> pcl_base.hpp:66</div></div>
<div class="ttc" id="aclasspcl_1_1_p_c_l_base_html_ab219359de6eb34c9d51e2e976dd1a0d1"><div class="ttname"><a href="classpcl_1_1_p_c_l_base.html#ab219359de6eb34c9d51e2e976dd1a0d1">pcl::PCLBase::setIndices</a></div><div class="ttdeci">virtual void setIndices(const IndicesPtr &amp;indices)</div><div class="ttdoc">Provide a pointer to the vector of indices that represents the input data.</div><div class="ttdef"><b>Definition:</b> pcl_base.hpp:73</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt; pcl::RGB &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1_sample_consensus_model_plane_html"><div class="ttname"><a href="classpcl_1_1_sample_consensus_model_plane.html">pcl::SampleConsensusModelPlane</a></div><div class="ttdoc">SampleConsensusModelPlane defines a model for 3D plane segmentation. The model coefficients are defin...</div><div class="ttdef"><b>Definition:</b> sac_model_plane.h:137</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html">pcl::VoxelGrid</a></div><div class="ttdoc">VoxelGrid assembles a local 3D grid over a given PointCloud, and downsamples + filters the data.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:179</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_a155aa8fce756b002bb1b4b352f8f530f"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#a155aa8fce756b002bb1b4b352f8f530f">pcl::VoxelGrid::setFilterFieldName</a></div><div class="ttdeci">void setFilterFieldName(const std::string &amp;field_name)</div><div class="ttdoc">Provide the name of the field to be used for filtering data. In conjunction with setFilterLimits,...</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:393</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_aa5d7831e665977bdce76ed05bd0005cf"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#aa5d7831e665977bdce76ed05bd0005cf">pcl::VoxelGrid::setLeafSize</a></div><div class="ttdeci">void setLeafSize(const Eigen::Vector4f &amp;leaf_size)</div><div class="ttdoc">Set the voxel grid leaf size.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:223</div></div>
<div class="ttc" id="aclasspcl_1_1_voxel_grid_html_afc6d78962d7378aea245381fdb13e65e"><div class="ttname"><a href="classpcl_1_1_voxel_grid.html#afc6d78962d7378aea245381fdb13e65e">pcl::VoxelGrid::setFilterLimits</a></div><div class="ttdeci">void setFilterLimits(const double &amp;limit_min, const double &amp;limit_max)</div><div class="ttdoc">Set the field filter limits. All points having field values outside this interval will be discarded.</div><div class="ttdef"><b>Definition:</b> voxel_grid.h:410</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a00e3e22879cc58458e8bc1d57f1f0b4c"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a00e3e22879cc58458e8bc1d57f1f0b4c">pcl::people::GroundBasedPeopleDetectionApp::getDimensionLimits</a></div><div class="ttdeci">void getDimensionLimits(int &amp;min_points, int &amp;max_points)</div><div class="ttdoc">Get minimum and maximum allowed number of points for a person cluster.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:184</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a0136956b003c924a34bbbe02a032a4d4"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a0136956b003c924a34bbbe02a032a4d4">pcl::people::GroundBasedPeopleDetectionApp::getNoGroundCloud</a></div><div class="ttdeci">PointCloudPtr getNoGroundCloud()</div><div class="ttdoc">Get pointcloud after voxel grid filtering and ground removal.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:213</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a06ab91072245185aefb01e9f7c5f53bf"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a06ab91072245185aefb01e9f7c5f53bf">pcl::people::GroundBasedPeopleDetectionApp::filter</a></div><div class="ttdeci">void filter()</div><div class="ttdoc">Reduces the input cloud to one point per voxel and limits the field of view.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:296</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a0dc924992669bcd76b7dad68cfd5c5f6"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a0dc924992669bcd76b7dad68cfd5c5f6">pcl::people::GroundBasedPeopleDetectionApp::applyTransformationIntrinsics</a></div><div class="ttdeci">void applyTransformationIntrinsics()</div><div class="ttdoc">Applies the transformation to the intrinsics matrix.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:283</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a13fd5a5b9f2c03d75a303f2d1fffca79"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a13fd5a5b9f2c03d75a303f2d1fffca79">pcl::people::GroundBasedPeopleDetectionApp::GroundBasedPeopleDetectionApp</a></div><div class="ttdeci">GroundBasedPeopleDetectionApp()</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:47</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a19a15f63fc6648a65d54e2d70e6dbd7e"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a19a15f63fc6648a65d54e2d70e6dbd7e">pcl::people::GroundBasedPeopleDetectionApp::setSamplingFactor</a></div><div class="ttdeci">void setSamplingFactor(int sampling_factor)</div><div class="ttdoc">Set sampling factor.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:105</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a1d2f9ad79adf98c4bfc5c156d97b12b8"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a1d2f9ad79adf98c4bfc5c156d97b12b8">pcl::people::GroundBasedPeopleDetectionApp::extractRGBFromPointCloud</a></div><div class="ttdeci">void extractRGBFromPointCloud(PointCloudPtr input_cloud, pcl::PointCloud&lt; pcl::RGB &gt;::Ptr &amp;output_cloud)</div><div class="ttdoc">Extract RGB information from a point cloud and output the corresponding RGB point cloud.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:219</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a2c906736068e8325c05243de6460dba4"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a2c906736068e8325c05243de6460dba4">pcl::people::GroundBasedPeopleDetectionApp::setMinimumDistanceBetweenHeads</a></div><div class="ttdeci">void setMinimumDistanceBetweenHeads(float heads_minimum_distance)</div><div class="ttdoc">Set minimum distance between persons' heads.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:163</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a31940f8ad83752c91fed13ef030bf714"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a31940f8ad83752c91fed13ef030bf714">pcl::people::GroundBasedPeopleDetectionApp::setClassifier</a></div><div class="ttdeci">void setClassifier(pcl::people::PersonClassifier&lt; pcl::RGB &gt; person_classifier)</div><div class="ttdoc">Set SVM-based person classifier.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:126</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a31b917712ffe4f66d8ecf85ee9e71749"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a31b917712ffe4f66d8ecf85ee9e71749">pcl::people::GroundBasedPeopleDetectionApp::setHeadCentroid</a></div><div class="ttdeci">void setHeadCentroid(bool head_centroid)</div><div class="ttdoc">Set head_centroid_ to true (person centroid is in the head) or false (person centroid is the whole bo...</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:169</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a4d891de9e757b98155a630ac7a7c9de7"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a4d891de9e757b98155a630ac7a7c9de7">pcl::people::GroundBasedPeopleDetectionApp::setInputCloud</a></div><div class="ttdeci">void setInputCloud(PointCloudPtr &amp;cloud)</div><div class="ttdoc">Set the pointer to the input cloud.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:76</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a4e007039016b8be76f00495a6d114095"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a4e007039016b8be76f00495a6d114095">pcl::people::GroundBasedPeopleDetectionApp::getFilteredCloud</a></div><div class="ttdeci">PointCloudPtr getFilteredCloud()</div><div class="ttdoc">Get the filtered point cloud.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:207</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a5280579c14550268bd5b64a01f5716b5"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a5280579c14550268bd5b64a01f5716b5">pcl::people::GroundBasedPeopleDetectionApp::setVoxelSize</a></div><div class="ttdeci">void setVoxelSize(float voxel_size)</div><div class="ttdoc">Set voxel size.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:111</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a60516702b769124ed3da3fd318258ba0"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a60516702b769124ed3da3fd318258ba0">pcl::people::GroundBasedPeopleDetectionApp::swapDimensions</a></div><div class="ttdeci">void swapDimensions(pcl::PointCloud&lt; pcl::RGB &gt;::Ptr &amp;cloud)</div><div class="ttdoc">Swap rows/cols dimensions of a RGB point cloud (90 degrees counterclockwise rotation).</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:240</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a6ad2ce897659e25fd5552be5cfcebd50"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a6ad2ce897659e25fd5552be5cfcebd50">pcl::people::GroundBasedPeopleDetectionApp::setGround</a></div><div class="ttdeci">void setGround(Eigen::VectorXf &amp;ground_coeffs)</div><div class="ttdoc">Set the ground coefficients.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:96</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a74d6d3cb5fd914ed35b0d23702719912"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a74d6d3cb5fd914ed35b0d23702719912">pcl::people::GroundBasedPeopleDetectionApp::updateMinMaxPoints</a></div><div class="ttdeci">void updateMinMaxPoints()</div><div class="ttdoc">Estimates min_points_ and max_points_ based on the minimal and maximal cluster size and the voxel siz...</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:146</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a8aee7a6add005a4c42ade573585acfff"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a8aee7a6add005a4c42ade573585acfff">pcl::people::GroundBasedPeopleDetectionApp::applyTransformationPointCloud</a></div><div class="ttdeci">void applyTransformationPointCloud()</div><div class="ttdoc">Applies the transformation to the input point cloud.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:257</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a915f68c8aa39a15fc5a129a6d87b00a5"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a915f68c8aa39a15fc5a129a6d87b00a5">pcl::people::GroundBasedPeopleDetectionApp::setIntrinsics</a></div><div class="ttdeci">void setIntrinsics(Eigen::Matrix3f intrinsics_matrix)</div><div class="ttdoc">Set intrinsic parameters of the RGB camera.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:118</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_a96dd362f2971dab29b62c02ebf0a4ad2"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#a96dd362f2971dab29b62c02ebf0a4ad2">pcl::people::GroundBasedPeopleDetectionApp::getPersonClusterLimits</a></div><div class="ttdeci">void getPersonClusterLimits(float &amp;min_height, float &amp;max_height, float &amp;min_width, float &amp;max_width)</div><div class="ttdoc">Get the minimum and maximum allowed height and width for a person cluster.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:175</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_aa5e5282899e9ef0bd92f37d87cf9cb33"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#aa5e5282899e9ef0bd92f37d87cf9cb33">pcl::people::GroundBasedPeopleDetectionApp::getGround</a></div><div class="ttdeci">Eigen::VectorXf getGround()</div><div class="ttdoc">Get floor coefficients.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:197</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_aa863e592db0f6d0e943f11a1ee93b564"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#aa863e592db0f6d0e943f11a1ee93b564">pcl::people::GroundBasedPeopleDetectionApp::setFOV</a></div><div class="ttdeci">void setFOV(float min, float max)</div><div class="ttdoc">Set the field of view of the point cloud in z direction.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:133</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_ab089c9fe913edf8b5aff9d9e64f6914a"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#ab089c9fe913edf8b5aff9d9e64f6914a">pcl::people::GroundBasedPeopleDetectionApp::setPersonClusterLimits</a></div><div class="ttdeci">void setPersonClusterLimits(float min_height, float max_height, float min_width, float max_width)</div><div class="ttdoc">Set minimum and maximum allowed height and width for a person cluster.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:153</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_abb1e96641bf0cd5d87ec9d32181a3efa"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#abb1e96641bf0cd5d87ec9d32181a3efa">pcl::people::GroundBasedPeopleDetectionApp::setTransformation</a></div><div class="ttdeci">void setTransformation(const Eigen::Matrix3f &amp;transformation)</div><div class="ttdoc">Set the transformation matrix, which is used in order to transform the given point cloud,...</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:82</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_aca14cbeff3ce425e9a8fe3170236da77"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#aca14cbeff3ce425e9a8fe3170236da77">pcl::people::GroundBasedPeopleDetectionApp::getMinimumDistanceBetweenHeads</a></div><div class="ttdeci">float getMinimumDistanceBetweenHeads()</div><div class="ttdoc">Get minimum distance between persons' heads.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:191</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_ad88876b8e9f69b703ffc26d1d5c92760"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#ad88876b8e9f69b703ffc26d1d5c92760">pcl::people::GroundBasedPeopleDetectionApp::applyTransformationGround</a></div><div class="ttdeci">void applyTransformationGround()</div><div class="ttdoc">Applies the transformation to the ground plane.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:268</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_ae2a57b74d01adf84f8371ffc5d8cb4cd"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#ae2a57b74d01adf84f8371ffc5d8cb4cd">pcl::people::GroundBasedPeopleDetectionApp::~GroundBasedPeopleDetectionApp</a></div><div class="ttdeci">virtual ~GroundBasedPeopleDetectionApp()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:416</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_aef52be2a667ceb8c1c58b93c06125fa0"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#aef52be2a667ceb8c1c58b93c06125fa0">pcl::people::GroundBasedPeopleDetectionApp::compute</a></div><div class="ttdeci">bool compute(std::vector&lt; pcl::people::PersonCluster&lt; PointT &gt; &gt; &amp;clusters)</div><div class="ttdoc">Perform people detection on the input data and return people clusters information.</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:308</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_ground_based_people_detection_app_html_af5662950e81c30873915ed91dcc0d0d2"><div class="ttname"><a href="classpcl_1_1people_1_1_ground_based_people_detection_app.html#af5662950e81c30873915ed91dcc0d0d2">pcl::people::GroundBasedPeopleDetectionApp::setSensorPortraitOrientation</a></div><div class="ttdeci">void setSensorPortraitOrientation(bool vertical)</div><div class="ttdoc">Set sensor orientation (vertical = true means portrait mode, vertical = false means landscape mode).</div><div class="ttdef"><b>Definition:</b> ground_based_people_detection_app.hpp:140</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_head_based_subclustering_html"><div class="ttname"><a href="classpcl_1_1people_1_1_head_based_subclustering.html">pcl::people::HeadBasedSubclustering</a></div><div class="ttdoc">HeadBasedSubclustering represents a class for searching for people inside a HeightMap2D based on a 3D...</div><div class="ttdef"><b>Definition:</b> head_based_subcluster.h:60</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_head_based_subclustering_html_a041e2143e796e359353c798f16f8be8d"><div class="ttname"><a href="classpcl_1_1people_1_1_head_based_subclustering.html#a041e2143e796e359353c798f16f8be8d">pcl::people::HeadBasedSubclustering::setGround</a></div><div class="ttdeci">void setGround(Eigen::VectorXf &amp;ground_coeffs)</div><div class="ttdoc">Set the ground coefficients.</div><div class="ttdef"><b>Definition:</b> head_based_subcluster.hpp:69</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_head_based_subclustering_html_a37e1d9543f43fc7c59fe3a795d01388e"><div class="ttname"><a href="classpcl_1_1people_1_1_head_based_subclustering.html#a37e1d9543f43fc7c59fe3a795d01388e">pcl::people::HeadBasedSubclustering::subcluster</a></div><div class="ttdeci">void subcluster(std::vector&lt; pcl::people::PersonCluster&lt; PointT &gt; &gt; &amp;clusters)</div><div class="ttdoc">Compute subclusters and return them into a vector of PersonCluster.</div><div class="ttdef"><b>Definition:</b> head_based_subcluster.hpp:255</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_head_based_subclustering_html_a84a55359a8ff3af4b51d663a4c017f45"><div class="ttname"><a href="classpcl_1_1people_1_1_head_based_subclustering.html#a84a55359a8ff3af4b51d663a4c017f45">pcl::people::HeadBasedSubclustering::setInitialClusters</a></div><div class="ttdeci">void setInitialClusters(std::vector&lt; pcl::PointIndices &gt; &amp;cluster_indices)</div><div class="ttdoc">Set initial cluster indices.</div><div class="ttdef"><b>Definition:</b> head_based_subcluster.hpp:76</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_head_based_subclustering_html_a866c04c3f4cd3c955a5217a4684ea36b"><div class="ttname"><a href="classpcl_1_1people_1_1_head_based_subclustering.html#a866c04c3f4cd3c955a5217a4684ea36b">pcl::people::HeadBasedSubclustering::setMinimumDistanceBetweenHeads</a></div><div class="ttdeci">void setMinimumDistanceBetweenHeads(float heads_minimum_distance)</div><div class="ttdoc">Set minimum distance between persons' heads.</div><div class="ttdef"><b>Definition:</b> head_based_subcluster.hpp:102</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_head_based_subclustering_html_aa397dfa3d093b2a9f86b3957513b9d94"><div class="ttname"><a href="classpcl_1_1people_1_1_head_based_subclustering.html#aa397dfa3d093b2a9f86b3957513b9d94">pcl::people::HeadBasedSubclustering::setSensorPortraitOrientation</a></div><div class="ttdeci">void setSensorPortraitOrientation(bool vertical)</div><div class="ttdoc">Set sensor orientation to landscape mode (false) or portrait mode (true).</div><div class="ttdef"><b>Definition:</b> head_based_subcluster.hpp:82</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_head_based_subclustering_html_abb32cbb48acaa44cd04ec25508e56ca9"><div class="ttname"><a href="classpcl_1_1people_1_1_head_based_subclustering.html#abb32cbb48acaa44cd04ec25508e56ca9">pcl::people::HeadBasedSubclustering::setHeightLimits</a></div><div class="ttdeci">void setHeightLimits(float min_height, float max_height)</div><div class="ttdoc">Set minimum and maximum allowed height for a person cluster.</div><div class="ttdef"><b>Definition:</b> head_based_subcluster.hpp:88</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_head_based_subclustering_html_ad140bf587d64742ccf80863a31420584"><div class="ttname"><a href="classpcl_1_1people_1_1_head_based_subclustering.html#ad140bf587d64742ccf80863a31420584">pcl::people::HeadBasedSubclustering::setInputCloud</a></div><div class="ttdeci">void setInputCloud(PointCloudPtr &amp;cloud)</div><div class="ttdoc">Set input cloud.</div><div class="ttdef"><b>Definition:</b> head_based_subcluster.hpp:63</div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_classifier_html"><div class="ttname"><a href="classpcl_1_1people_1_1_person_classifier.html">pcl::people::PersonClassifier&lt; pcl::RGB &gt;</a></div></div>
<div class="ttc" id="aclasspcl_1_1people_1_1_person_cluster_html"><div class="ttname"><a href="classpcl_1_1people_1_1_person_cluster.html">pcl::people::PersonCluster</a></div><div class="ttdoc">PersonCluster represents a class for representing information about a cluster containing a person.</div><div class="ttdef"><b>Definition:</b> person_cluster.h:60</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_kd_tree_html"><div class="ttname"><a href="classpcl_1_1search_1_1_kd_tree.html">pcl::search::KdTree</a></div><div class="ttdoc">search::KdTree is a wrapper class which inherits the pcl::KdTree class for performing search function...</div><div class="ttdef"><b>Definition:</b> kdtree.h:63</div></div>
<div class="ttc" id="aclasspcl_1_1search_1_1_kd_tree_html_a457ebf1fc8f25e3b45d0bf9d55880f6f"><div class="ttname"><a href="classpcl_1_1search_1_1_kd_tree.html#a457ebf1fc8f25e3b45d0bf9d55880f6f">pcl::search::KdTree::setInputCloud</a></div><div class="ttdeci">void setInputCloud(const PointCloudConstPtr &amp;cloud, const IndicesConstPtr &amp;indices=IndicesConstPtr())</div><div class="ttdoc">Provide a pointer to the input dataset.</div><div class="ttdef"><b>Definition:</b> kdtree.hpp:77</div></div>
<div class="ttc" id="agroup__common_html_ga52d532f7f2b4d7bba78d13701d3a33d8"><div class="ttname"><a href="group__common.html#ga52d532f7f2b4d7bba78d13701d3a33d8">pcl::transformPointCloud</a></div><div class="ttdeci">void transformPointCloud(const pcl::PointCloud&lt; PointT &gt; &amp;cloud_in, pcl::PointCloud&lt; PointT &gt; &amp;cloud_out, const Eigen::Transform&lt; Scalar, 3, Eigen::Affine &gt; &amp;transform, bool copy_all_fields=true)</div><div class="ttdoc">Apply an affine transform defined by an Eigen Transform</div><div class="ttdef"><b>Definition:</b> transforms.hpp:42</div></div>
<div class="ttc" id="astructpcl_1_1_r_g_b_html"><div class="ttname"><a href="structpcl_1_1_r_g_b.html">pcl::RGB</a></div><div class="ttdoc">A structure representing RGB color information.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:334</div></div>
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